论文标题

通过随机屏障功能为神经网络动态系统的安全保证

Safety Guarantees for Neural Network Dynamic Systems via Stochastic Barrier Functions

论文作者

Mazouz, Rayan, Muvvala, Karan, Ratheesh, Akash, Laurenti, Luca, Lahijanian, Morteza

论文摘要

神经网络(NNS)已成功地用于代表复杂动力学系统的状态演变。这样的模型,称为NN动态模型(NNDMS),使用NN的迭代嘈杂预测来估计随时间推移系统轨迹的分布。尽管它们的准确性,但对NNDM的安全分析仍然是一个具有挑战性的问题,并且在很大程度上尚未探索。为了解决这个问题,在本文中,我们介绍了一种为NNDM提供安全保证的方法。我们的方法基于随机屏障函数,其与安全的关系类似于Lyapunov功能的稳定性。我们首先展示了通过凸优化问题合成NNDMS随机屏障函数的方法,进而为系统的安全概率提供了下限。我们方法中的关键步骤是使用近期凸的近似结果,使NNS找到零件线性边界,这允许将屏障函数合成问题作为一个方形优化程序的制定。如果获得的安全概率高于所需的阈值,则该系统将获得认证。否则,我们引入了一种生成控制系统的方法,该系统以最小的侵入性方式稳健地最大化安全概率。我们利用屏障函数的凸属性来提出最佳控制合成问题作为线性程序。实验结果说明了该方法的功效。即,他们表明该方法可以扩展到每层具有多层和数百个神经元的多维NNDM,并且控制器可以显着提高安全性概率。

Neural Networks (NNs) have been successfully employed to represent the state evolution of complex dynamical systems. Such models, referred to as NN dynamic models (NNDMs), use iterative noisy predictions of NN to estimate a distribution of system trajectories over time. Despite their accuracy, safety analysis of NNDMs is known to be a challenging problem and remains largely unexplored. To address this issue, in this paper, we introduce a method of providing safety guarantees for NNDMs. Our approach is based on stochastic barrier functions, whose relation with safety are analogous to that of Lyapunov functions with stability. We first show a method of synthesizing stochastic barrier functions for NNDMs via a convex optimization problem, which in turn provides a lower bound on the system's safety probability. A key step in our method is the employment of the recent convex approximation results for NNs to find piece-wise linear bounds, which allow the formulation of the barrier function synthesis problem as a sum-of-squares optimization program. If the obtained safety probability is above the desired threshold, the system is certified. Otherwise, we introduce a method of generating controls for the system that robustly maximizes the safety probability in a minimally-invasive manner. We exploit the convexity property of the barrier function to formulate the optimal control synthesis problem as a linear program. Experimental results illustrate the efficacy of the method. Namely, they show that the method can scale to multi-dimensional NNDMs with multiple layers and hundreds of neurons per layer, and that the controller can significantly improve the safety probability.

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